/*
 * Copyright 2016 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include "cartographer_ros/node_options.h"

#include <vector>
#include "cartographer/common/port.h"
#include "cartographer/common/configuration_file_resolver.h"
#include "cartographer/mapping/map_builder_interface.h"
#include "glog/logging.h"

namespace cartographer_ros
{

    NodeOptions CreateNodeOptions(::cartographer::common::LuaParameterDictionary *const lua_parameter_dictionary)
    {
        NodeOptions options;
        options.map_builder_options = ::cartographer::mapping::CreateMapBuilderOptions(
            lua_parameter_dictionary->GetDictionary("map_builder").get());
        options.map_frame = lua_parameter_dictionary->GetString("map_frame");
        options.lookup_transform_timeout_sec = lua_parameter_dictionary->GetDouble("lookup_transform_timeout_sec");
        options.submap_publish_period_sec = lua_parameter_dictionary->GetDouble("submap_publish_period_sec");
        options.pose_publish_period_sec = lua_parameter_dictionary->GetDouble("pose_publish_period_sec");
        options.trajectory_publish_period_sec = lua_parameter_dictionary->GetDouble("trajectory_publish_period_sec");
        if (lua_parameter_dictionary->HasKey("publish_to_tf"))
        {
            options.publish_to_tf = lua_parameter_dictionary->GetBool("publish_to_tf");
        }
        if (lua_parameter_dictionary->HasKey("publish_tracked_pose"))
        {
            options.publish_tracked_pose = lua_parameter_dictionary->GetBool("publish_tracked_pose");
        }
        if (lua_parameter_dictionary->HasKey("use_pose_extrapolator"))
        {
            options.use_pose_extrapolator = lua_parameter_dictionary->GetBool("use_pose_extrapolator");
        }
        return options;
    }

    std::tuple<NodeOptions, TrajectoryOptions> LoadOptions(const std::string &configuration_directory, const std::string &configuration_basename)
    {
        auto file_resolver = absl::make_unique<cartographer::common::ConfigurationFileResolver>(std::vector<std::string>{configuration_directory});
        const std::string code = file_resolver->GetFileContentOrDie(configuration_basename);
        cartographer::common::LuaParameterDictionary lua_parameter_dictionary(code, std::move(file_resolver));

        auto &imuopt = cartographer::ImuOptions::GetInstance();
        imuopt.noise_acc = lua_parameter_dictionary.GetDouble("imu_noise_acc");
        imuopt.noise_gyro = lua_parameter_dictionary.GetDouble("imu_noise_gyro");
        imuopt.use_imu_integrate = lua_parameter_dictionary.GetBool("use_imu_integrate");
        imuopt.walk_acc = lua_parameter_dictionary.GetDouble("imu_walk_acc");
        imuopt.walk_gyro = lua_parameter_dictionary.GetDouble("imu_walk_gyro");
        imuopt.frequency = lua_parameter_dictionary.GetDouble("imu_frequency");
        return std::make_tuple(CreateNodeOptions(&lua_parameter_dictionary), CreateTrajectoryOptions(&lua_parameter_dictionary));
    }
} // namespace cartographer_ros
